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Galaxea ATC ROS2 SDK - V2.2.1 - Changelog

Update Notes

Software Version: V2.2.1

Ubuntu System: 22.04 LTS

ROS Version: ROS 2 Humble

Release Date: 2025.01.09

Version Content Updates

1. Driver and Embedded Updates:

  1. Optimized adaptation of the rlog logging system;
  2. Optimized adaptation of the fault code system;
  3. Added the whole-machine calibration file function, with the release path as /opt/galaxea/body/robot_calibration.json;
  4. Optimized PID control parameters for the torso TCU of R1 Lite and R1 Pro;
  5. Changed the mode of the topic node /controller to 1 when the VCU triggers an emergency stop via remote control for R1 Lite and R1 Pro;
  6. Optimized the default camera resolution for R1 Pro to 1920*1080, with approximately 30% reduction in CPU performance usage.

2. Teleoperation and Data Collection Feature Updates:

  1. Added communication delay monitoring between the robot body and the VR headset;
  2. Added rlog and fault code functions for teleoperation.

3. Navigation and Localization Updates:

  1. Added error code reporting for localization loss, with the topic /fault_code/localization/ and message type DiagnosticStatus (built-in ROS2);
  2. Supports manual re-localization by providing initial values manually;
  3. Supports automatic re-localization after localization loss;
  4. Added local map updates to the global map, improving path planning quality when the map changes;
  5. Optimized obstacle collision detection to a hexagonal outline of the robot;
  6. Optimized navigation motion when starting and ending points are near obstacles, allowing navigation target points to be ≥6cm from obstacles;
  7. Optimized global path planning for starting and ending points, adding the functionality to search for nearby safe points;
  8. Optimized obstacle point cloud processing, adding historical point cloud processing logic and parameter interface switches;
  9. Optimized point cloud filtering and obstacle avoidance parameters, improving navigation stop-and-avoidance performance;
  10. Added a local motion interface.

4. Other Updates：

  1. Added frequency monitoring and frame interval monitoring for implemented monitoring topics.
  2. Fixed the issue where signal_camera could not be launched at 30Hz for PRO cameras.
  3. Ablated the Dewarper algorithm in the camera SDK and added a configuration switch to transform camera images from the calibrated extrinsic parameters to the original URDF extrinsic parameters, with existing camera publishing topics unchanged.

Update Precautions

  1. During the upgrade process, do not interrupt system operation or perform any control operations, otherwise the upgrade may fail and affect normal system usage.
  2. After the upgrade is complete, please power off the robot and power it on again to ensure the system update takes full effect.

Please strictly follow the following tutorial to complete this system update. If you encounter any problems, please contact us at support@galaxea-dynamics.com for technical support!

Update Tutorial

1. Download SDK

Usage Instructions and Disclaimer
The performance and functionality of the teleoperation feature published on this site are subject to the company's publicly released technical specifications and functional descriptions. During actual use, Galaxea Dynamics shall not be held liable for any malfunctions, anomalies, or losses (including direct or indirect losses) resulting from the following circumstances:
1. Failure to correctly deploy the operating environment, configure network settings, or use equipment in accordance with the operation manual or tutorials;
2. Unauthorized modification of code, integration of incompatible components, or use of the teleoperation feature beyond its intended functional design scope;
3. Factors beyond the company’s control, such as network interruptions, power failures, or third-party hardware malfunctions;
4. Latency, jitter, data packet loss, or other phenomena that cannot be completely avoided due to the current technical characteristics of the industry.
Downloading the teleoperation SDK and using this feature constitutes your acknowledgment that you have read and agreed to the above terms.

Navigation package is an additional paid feature. For details, please contact our sales representative!

2. Extract Update Package

tar -xf ${your_download_path}/sdk_name.tar.gz -C ~/galaxea

3. OTA Firmware Upgrade

First start CAN communication 

bash ~/can.sh
candump can0 //Check if CAN data is normal
Or execute the following code to start CAN communication 
sudo ip link set can0 down
sudo ip link set can0 type can bitrate 1000000 sample-point 0.875 dbitrate 5000000 fd on dsample-point 0.875     
sudo ip link set can0 up
candump can0  # Check if CAN data is normal

Use opt/galaxea/body/hardware.json configuration file. If the whole machine does not have this file, please contact the after-sales team to update the configuration.

# Terminal 2cd ~/ && source install/setup.bash
cd ~/install/Embedded_Software_Firmware/share/tools
python3 ota_xcu.py
OTA will then proceed sequentially. After waiting a few seconds, "GET OTA finished!!" indicates successful update.

Note: After the update is complete, please power off the robot and power it on again.

4. SDK Startup Method

ATC STANDARD(ARM64)

Suitable for R1 Pro/R1

cd install/share/startup_config/script/

# R1 Body：
./robot_startup.sh boot ../session.d/ATCStandard/R1Body.d/
# R1 VR Teleop：
./robot_startup.sh boot ../session.d/ATCStandard/R1VRTeleop.d/
# R1PRO Body：
./robot_startup.sh boot ../session.d/ATCStandard/R1PROBody.d/
# R1 Pro VR Teleop：
./robot_startup.sh boot ../session.d/ATCStandard/R1PROVRTeleop.d/

## Isomorphic Related
# R1 Isomorphic Teleop：//R1T corresponding R1 startup method
./robot_startup.sh boot ../session.d/ATCStandard/R1IsomorphicTeleop.d/
# R1 Pro Isomorphic Teleop.d：//R1PROT corresponding R1PRO startup method
./robot_startup.sh boot ../session.d/ATCStandard/R1PROIsomorphicTeleop.d/

ATC STANDARD(x86_64)

Suitable for R1 Lite

cd install/share/startup_config/script/
# R1 Lite Body：
./robot_startup.sh boot ../session.d/ATCStandard/R1LITEBody.d/
# R1 Lite VR Teleop：
./robot_startup.sh boot ../session.d/ATCStandard/R1LITEVRTeleop.d/

ATC Arm(x86_64)

Suitable for A1X/A1Y 

cd install/share/startup_config/script/
# R1 Lite-T(Gello)：
./robot_startup.sh boot ../session.d/ATCHostStandard/R1LITET.d/
# R1-T：
./robot_startup.sh boot ../session.d/ATCHostStandard/R1T.d/
# R1Pro-T：
./robot_startup.sh boot ../session.d/ATCHostStandard/R1LITET.d/

ATC Navigation(ARM64)

Suitable for R1 Pro/R1 Navigation Function

cd install/share/startup_config/script/
# R1 Navigation：
./robot_startup.sh boot ../session.d/ATCNavigation/R1VRTeleopNAV.d/
# R1 Pro Navigation：
./robot_startup.sh boot ../session.d/ATCNavigation/R1PROVRTeleopNAV.d/

ATC System(ARM64)

Suitable for R1 Pro/R1 System Functions 

cd install/share/startup_config/script/
./robot_startup.sh boot ../sessions.d/ATCSystem/R1PROATC.d/